text: /*******************************************************************************
   * Copyright (c) 2020  Carnegie Mellon University
   *
   * Permission is hereby granted, free of charge, to any person obtaining a copy
   * of this software and associated documentation files (the "Software"), to deal
   * in the Software without restriction, including without limitation the rights
   * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the Software is
   * furnished to do so, subject to the following conditions:
   *
   * The above copyright notice and this permission notice shall be included in
   * all copies or substantial portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
   * THE SOFTWARE.
   *******************************************************************************/
  
  #ifndef ARDUINO_NODE_SENSORREADER_H
  #define ARDUINO_NODE_SENSORREADER_H
  
  #include <ros.h>
  #include <Arduino.h>
  
  class SensorReader {
  protected:
    ros::NodeHandle &nh_;
    bool initialized_;
    
  public:
  SensorReader(ros::NodeHandle &nh):
    nh_(nh),
    initialized_(false)
    {}
    virtual void init()=0;
    virtual void update()=0;
  };
  
  #endif //ARDUINO_NODE_SENSORREADER_H
  